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Bug fixes in VerticalBlockMatrix

release/4.3a0
Richard Roberts 2013-07-09 17:50:28 +00:00
parent 6d7c9e95e4
commit 8c2b53ad3b
2 changed files with 6 additions and 6 deletions
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2
gtsam/base/VerticalBlockMatrix.cpp
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@ -24,7 +24,7 @@ namespace gtsam {
VerticalBlockMatrix VerticalBlockMatrix::LikeActiveViewOf(const VerticalBlockMatrix& rhs) { VerticalBlockMatrix VerticalBlockMatrix::LikeActiveViewOf(const VerticalBlockMatrix& rhs) {
VerticalBlockMatrix result; VerticalBlockMatrix result;
result.variableColOffsets_.resize(rhs.nBlocks() + 1); result.variableColOffsets_.resize(rhs.nBlocks() + 1);
for(Index i = 0; i < rhs.nBlocks(); ++i) for(Index i = 0; i < rhs.nBlocks() + 1; ++i)
result.variableColOffsets_[i] = rhs.variableColOffsets_[i + rhs.blockStart_]; result.variableColOffsets_[i] = rhs.variableColOffsets_[i + rhs.blockStart_];
result.matrix_.resize(rhs.rows(), result.variableColOffsets_.back()); result.matrix_.resize(rhs.rows(), result.variableColOffsets_.back());
result.rowEnd_ = rhs.rows(); result.rowEnd_ = rhs.rows();

10
gtsam/base/VerticalBlockMatrix.h
View File

@ -71,10 +71,10 @@ namespace gtsam {
* height is matrixNewHeight and its width fits the given block dimensions. */ * height is matrixNewHeight and its width fits the given block dimensions. */
template<typename CONTAINER> template<typename CONTAINER>
VerticalBlockMatrix(const CONTAINER dimensions, DenseIndex height) : VerticalBlockMatrix(const CONTAINER dimensions, DenseIndex height) :
matrix_(height, variableColOffsets_.back()),
rowStart_(0), rowEnd_(height), blockStart_(0) rowStart_(0), rowEnd_(height), blockStart_(0)
{ {
fillOffsets(dimensions.begin(), dimensions.end()); fillOffsets(dimensions.begin(), dimensions.end());
matrix_.resize(height, variableColOffsets_.back());
assertInvariants(); assertInvariants();
} }
@ -83,10 +83,10 @@ namespace gtsam {
* height is matrixNewHeight and its width fits the given block dimensions. */ * height is matrixNewHeight and its width fits the given block dimensions. */
template<typename ITERATOR> template<typename ITERATOR>
VerticalBlockMatrix(ITERATOR firstBlockDim, ITERATOR lastBlockDim, DenseIndex height) : VerticalBlockMatrix(ITERATOR firstBlockDim, ITERATOR lastBlockDim, DenseIndex height) :
matrix_(height, variableColOffsets_.back()),
rowStart_(0), rowEnd_(height), blockStart_(0) rowStart_(0), rowEnd_(height), blockStart_(0)
{ {
fillOffsets(firstBlockDim, lastBlockDim); fillOffsets(firstBlockDim, lastBlockDim);
matrix_.resize(height, variableColOffsets_.back());
assertInvariants(); assertInvariants();
} }
@ -112,7 +112,7 @@ namespace gtsam {
Index actualEndBlock = endBlock + blockStart_; Index actualEndBlock = endBlock + blockStart_;
if(startBlock != 0 || endBlock != 0) { if(startBlock != 0 || endBlock != 0) {
checkBlock(actualStartBlock); checkBlock(actualStartBlock);
checkBlock(actualEndBlock); assert(actualEndBlock < (DenseIndex)variableColOffsets_.size());
} }
const Index startCol = variableColOffsets_[actualStartBlock]; const Index startCol = variableColOffsets_[actualStartBlock];
const Index rangeCols = variableColOffsets_[actualEndBlock] - startCol; const Index rangeCols = variableColOffsets_[actualEndBlock] - startCol;
@ -125,7 +125,7 @@ namespace gtsam {
Index actualEndBlock = endBlock + blockStart_; Index actualEndBlock = endBlock + blockStart_;
if(startBlock != 0 || endBlock != 0) { if(startBlock != 0 || endBlock != 0) {
checkBlock(actualStartBlock); checkBlock(actualStartBlock);
checkBlock(actualEndBlock); assert(actualEndBlock < (DenseIndex)variableColOffsets_.size());
} }
const Index startCol = variableColOffsets_[actualStartBlock]; const Index startCol = variableColOffsets_[actualStartBlock];
const Index rangeCols = variableColOffsets_[actualEndBlock] - startCol; const Index rangeCols = variableColOffsets_[actualEndBlock] - startCol;
@ -190,7 +190,7 @@ namespace gtsam {
void checkBlock(DenseIndex block) const { void checkBlock(DenseIndex block) const {
assert(matrix_.cols() == variableColOffsets_.back()); assert(matrix_.cols() == variableColOffsets_.back());
assert(block < (DenseIndex)variableColOffsets_.size()-1); assert(block < (DenseIndex)variableColOffsets_.size() - 1);
assert(variableColOffsets_[block] < matrix_.cols() && variableColOffsets_[block+1] <= matrix_.cols()); assert(variableColOffsets_[block] < matrix_.cols() && variableColOffsets_[block+1] <= matrix_.cols());
} }